def build_world_step(self, env, floor, floor_size):
env.metadata['box_size'] = self.box_size
self.curr_n_boxes = env._random_state.randint(self.n_boxes[0],
self.n_boxes[1] + 1)
env.metadata['curr_n_boxes'] = np.zeros((self.n_boxes[1]))
env.metadata['curr_n_boxes'][:self.curr_n_boxes] = 1
env.metadata['curr_n_boxes'] = env.metadata['curr_n_boxes'].astype(
np.bool)
self.curr_n_elongated_boxes = env._random_state.randint(
self.n_elongated_boxes[0],
min(self.n_elongated_boxes[1], self.curr_n_boxes) + 1)
self.box_size_array = self.box_size * np.ones((self.curr_n_boxes, 3))
if self.curr_n_elongated_boxes > 0:
# sample number of x-aligned boxes
n_xaligned = env._random_state.randint(
self.curr_n_elongated_boxes + 1)
self.box_size_array[:n_xaligned, :] = self.box_size * np.array(
[3.3, 0.3, 1.0])
self.box_size_array[n_xaligned:self.curr_n_elongated_boxes, :] = (
self.box_size * np.array([0.3, 3.3, 1.0]))
env.metadata['box_size_array'] = self.box_size_array
successful_placement = True
for i in range(self.curr_n_boxes):
char = chr(ord('A') + i % 26)
geom = Geom("box",
self.box_size_array[i, :],
name=f'moveable_box{i}')
geom.set_material(Material(texture="chars/" + char + ".png"))
geom.add_transform(set_geom_attr_transform('mass', self.box_mass))
if self.mark_box_corners:
for j, (x, y) in enumerate([[0, 0], [0, 1], [1, 0], [1, 1]]):
geom.mark(f'moveable_box{i}_corner{j}',
relative_xyz=(x, y, 0.5),
rgba=[1., 1., 1., 0.])
if self.friction is not None:
geom.add_transform(
set_geom_attr_transform('friction', self.friction))
if self.box_only_z_rot:
geom.add_transform(
remove_hinge_axis_transform(np.array([1.0, 0.0, 0.0])))
geom.add_transform(
remove_hinge_axis_transform(np.array([0.0, 1.0, 0.0])))
if self.placement_fn is not None:
_placement_fn = (self.placement_fn[i] if isinstance(
self.placement_fn, list) else self.placement_fn)
pos, _ = rejection_placement(env, _placement_fn, floor_size,
self.box_size_array[i, :2])
if pos is not None:
floor.append(geom, placement_xy=pos)
else:
successful_placement = False
else:
floor.append(geom)
return successful_placement
def build_world_step(self, env, floor, floor_size):
successful_placement = True
env.metadata['curr_n_ramps'] = np.ones((self.n_ramps)).astype(np.bool)
for i in range(self.n_ramps):
char = chr(ord('A') + i % 26)
geom = geom = ObjFromXML('ramp', name=f"ramp{i}")
geom.set_material(Material(texture="chars/" + char + ".png"))
if self.friction is not None:
geom.add_transform(
set_geom_attr_transform('friction', self.friction))
if self.placement_fn is not None:
_placement_fn = (self.placement_fn[i] if isinstance(
self.placement_fn, list) else self.placement_fn)
pos, _ = rejection_placement(env, _placement_fn, floor_size,
get_size_from_xml(geom))
if pos is not None:
floor.append(geom, placement_xy=pos)
else:
successful_placement = False
else:
floor.append(geom)
return successful_placement